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http://dx.doi.org/10.5302/J.ICROS.2002.8.7.533

Design of a Direct Adaptive Controller with a Novel Kind of Lyapunov Function  

Lee, Hyo-Seop (Dept. of Electronic Engineering Hanyang University)
Yang, Hae-Won (Dept. of Electronic computer Engineering, Hanyang University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.8, no.7, 2002 , pp. 533-538 More about this Journal
Abstract
We propose a direct adaptive controller for a class of nonlinearly parametrized systems. A normalized output error is added to the previous control law to construct the proposed adaptive controller. The transient performance of the resulting closed-loop system can be guaranteed by suitably choosing a novel kind of Lyapunov function while the tracking performance of the adaptive control system is improved using the proposed algorithm. Finally, the effectiveness of the proposed algorithm is illustrated with computer simulation.
Keywords
adaptive controller; transient performance; Lyapunov;
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